WO2023025199A1 - 一种无人机飞行控制方法、装置、管理平台和存储介质 - Google Patents

一种无人机飞行控制方法、装置、管理平台和存储介质 Download PDF

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Publication number
WO2023025199A1
WO2023025199A1 PCT/CN2022/114557 CN2022114557W WO2023025199A1 WO 2023025199 A1 WO2023025199 A1 WO 2023025199A1 CN 2022114557 W CN2022114557 W CN 2022114557W WO 2023025199 A1 WO2023025199 A1 WO 2023025199A1
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Prior art keywords
nest
uav
drone
instruction
flight
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PCT/CN2022/114557
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English (en)
French (fr)
Inventor
蒙露璐
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

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  • the embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular to a method, device, management platform and storage medium for controlling the flight of an unmanned aerial vehicle.
  • the embodiment of the present application provides a UAV flight control method, device, management platform and storage medium, which can control the UAV flight more conveniently.
  • the embodiment of the present application provides a method for controlling the flight of a drone, the method comprising:
  • a power-on instruction is sent to the nest, and the power-on instruction is used to instruct the nest to turn on the drone;
  • the release instruction is used to instruct the nest to release the constraints on the UAV, so that the unmanned aircraft take off from said nest;
  • a flight control instruction is generated, the flight control instruction is used to control the flight state of the drone, and the flight state includes a flight direction.
  • the method further includes: displaying a map and at least one nest located in the map on a display screen coupled to the management platform.
  • the method further includes: displaying the state of the nest and the state of the drone in the nest on the display screen in response to a third input operation by the user.
  • sending a release instruction to the nest includes:
  • the method further includes: generating a landing instruction in response to a fourth input operation of the user, the landing instruction being used for the drone to automatically land to the nest.
  • the method further includes: when it is determined that the UAV cannot normally land on the nest, sending a warning message, the warning message is used to prompt the user to manually control the UAV to land on the nest. machine nest.
  • the flight direction includes at least one of ascending, descending, turning left and turning right.
  • the embodiment of the present application also provides a drone flight control device, including:
  • a power-on module configured to send a power-on instruction to the machine nest in response to a first input operation by the user, and the power-on instruction is used to instruct the machine nest to start the drone;
  • a release module configured to send a release instruction to the nest when the state of the UAV in the nest is normal, the release instruction is used to instruct the nest to release the constraint on the UAV, so as to causing the drone to take off from the nest;
  • the flight control module is configured to generate a flight control instruction in response to the second input operation of the user, the flight control instruction is used to control the flight state of the drone, and the flight state includes a flight direction.
  • the embodiment of the present application also provides a management platform, the management platform includes:
  • the memory is connected in communication with the at least one processor, the memory stores instructions executable by the at least one processor, the instructions are executed by the at least one processor, so that the at least one The processor can execute the above-mentioned UAV flight control method.
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a machine, the machine is made to execute The above-mentioned unmanned aerial vehicle flight control method.
  • the present application has at least the following beneficial effects: the drone flight control method, device, management platform and storage medium of the embodiment of the present application, the drone can be placed in the machine nest, and the drone can be controlled by the machine nest. Routine maintenance of man-machine (such as charging, etc.). When the user needs to use the UAV to perform tasks such as tracking and shooting without fixed routes, the UAV can be taken off by controlling the machine nest, and the flight of the UAV can be controlled through the management platform. The control method is more convenient.
  • Fig. 1 is a schematic diagram of an application scenario of the UAV flight control method in the embodiment of the present application
  • Fig. 2 is a schematic diagram of the hardware structure of the management platform of the embodiment of the present application.
  • Fig. 3 is a schematic flow chart of a method for controlling the flight of a drone according to an embodiment of the present application
  • Fig. 4 is a schematic diagram showing a map and a machine nest in the UAV flight control method of the embodiment of the present application;
  • Fig. 5 is a schematic diagram showing nest state and UAV state in the UAV flight control method of the embodiment of the present application
  • Fig. 6 is a schematic diagram of displaying a UAV flight video screen in the UAV flight control method according to the embodiment of the present application;
  • Fig. 7 is a schematic flow chart of an embodiment of the UAV flight control method of the present invention.
  • Fig. 8 is a schematic structural block diagram of an embodiment of the UAV forced landing control device of the present invention.
  • Fig. 9 is a schematic structural block diagram of another embodiment of the UAV forced landing control device of the present invention.
  • the UAV flight control method provided in the embodiment of the present application can be applied to the application scenario shown in Figure 1.
  • the management platform 100, the user 200, the machine nest 300 and the drone 400 are included.
  • the management platform 100 is used to control the flight or operation of the nest 300 and the drone 400 .
  • a communication connection can be established through respective internal wireless communication modules (such as signal receivers, signal transmitters, etc.), and data/commands can be uploaded or issued.
  • the management platform 100 and the nest 300 can be connected through wired or wireless communication.
  • Drone 400 may be any suitable unmanned aerial vehicle, including fixed-wing or rotary-wing unmanned aerial vehicles, such as helicopters, quadrotors, and aircraft with other numbers and/or configurations of rotors.
  • the unmanned aerial vehicle 400 can also be other movable objects, such as manned aircraft, model airplane, unmanned airship and unmanned hot air balloon, etc.
  • the drone 400 generally includes a fuselage, an arm connected to the fuselage, a power system, a control system, and the like.
  • the power system is used to provide power for the UAV 400 to fly, such as thrust, lift, etc., and may include motors, electric regulators, blades, or batteries.
  • the control system is the central nervous system of the UAV 200, including one or more controllers, and a plurality of sensors. Multiple sensors are used to sense the spatial orientation, velocity, acceleration, angular acceleration, attitude, position, etc. of the UAV, including GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors.
  • the machine nest 300 is used to place the UAV 400 , which usually includes a cabinet and a cover.
  • the cabinet and the cover form a closed space.
  • the machine nest 300 can also include a charging module for charging the drone when the drone is placed therein.
  • one nest corresponds to one UAV, and the size of the nest matches the size of the UAV.
  • the nest of a rotary-wing UAV is usually larger than that of a fixed-wing UAV.
  • the machine nest 300 may also include a cover control mechanism for controlling the opening or closing of the cover.
  • a pressing mechanism may also be included for controlling the drone to be turned on or off by pressing the on/off key of the drone.
  • the cover body control mechanism may be composed of existing structures such as a motor, a linkage mechanism, and a transmission mechanism, and the pressing mechanism may be composed of existing structures including a pressing body and an elastic member.
  • the management platform 100 is a platform for unified management of the machine nest 300 and the drone 400, and can be any suitable electronic device with control functions, such as a laptop computer, a desktop computer or a server group.
  • the management platform 100 may include a display screen, or display by connecting other display devices, and the display screen may be used to display various states of the nest and/or the drone, such as the state of the cover of the nest (open or closed), the The status of the Nest main control board (normal or abnormal), the charging status of the drone (charging completed or charging), and the status of the drone (normal or abnormal), etc.
  • the management platform 100 may also include an input device for inputting manipulation commands from the user 200, such as drone takeoff/landing commands, drone direction control commands, and the like.
  • the input device is, for example, a touch screen, a button, or a mouse.
  • FIG. 2 schematically shows a hardware structure of the management platform 100 .
  • the management platform includes a memory 21 and a processor 22 .
  • the memory 21 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs and non-volatile computer-executable program instructions.
  • the memory 21 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal, and the like.
  • the memory 21 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices.
  • the storage 21 may optionally include a storage that is remotely located relative to the processor 22, and these remote storages may be connected to the management platform through a network.
  • Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the processor 22 uses various interfaces and lines to connect various parts of the entire management platform 100, and executes various functions of the management platform 100 and Processing data, such as implementing the UAV flight control method described in any embodiment of the present application.
  • processor 22 There may be one or more processors 22, one processor 22 is taken as an example in FIG. 2 .
  • the processor 22 and the memory 21 may be connected through a bus or in other ways. In FIG. 2 , connection through a bus is taken as an example.
  • Processor 22 may include a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) device, and the like.
  • Processor 22 may also be implemented as a combination of computing devices, eg, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
  • management platform 100 the machine nest 300 and the drone 400.
  • the management platform 100, the machine nest 300 More components are provided with the UAV 400, and of course, one or more components can also be omitted according to functional requirements.
  • the embodiment of the present application provides a UAV flight control method, which can use the management platform to control the UAV, and the UAV can be placed in the machine nest, and the daily maintenance (such as charging, etc.) of the UAV can be performed by the machine nest .
  • the UAV can be taken off by controlling the machine nest, and the flight of the UAV can be controlled through the management platform.
  • the control method is more convenient.
  • Fig. 3 shows a kind of flow chart of the UAV flight control method of the embodiment of the present application, the method can be executed by the above-mentioned management platform 100 (such as the controller in the management platform 100), as shown in Fig. 3, the method includes :
  • the display screen coupled to the management platform can display a map of a certain area, and display at least one nest distributed in the map, and the user can know the location of the nest through the map.
  • Fig. 4 exemplarily shows the locations of the management platform and the machine nest on the map.
  • the user can also view the state of the machine nest and/or the state of the drone through the display screen, for example, the state of the cover (open or closed), the state of the main control board of the machine nest (normal or abnormal), no Human-machine charging status (charging completed or charging) and drone status (normal or abnormal), etc.
  • the third input operation can be input by the user (for example, the user hovers the mouse over the nest icon, or clicks the nest icon in the map with the mouse, or clicks the nest icon on the screen through the touch screen ), to display the nest status and drone status.
  • the status of the nest is displayed first. If the user finds that the nest is in a normal state and there is an idle drone in the nest, When you click or click on the nest, the status of the drone will be displayed again.
  • the user After the user selects the machine nest and the drone, he can input the first input operation through the input device of the management platform, and send a start-up command to the corresponding machine nest, so that the machine nest starts the drone.
  • the "one-key take-off" button displayed on the display screen can be clicked by the mouse, or the "one-key take-off” button on the touch screen can be clicked, and the management platform generates a power-on instruction in response to the click or single-click operation, And send the boot command to the machine nest.
  • a pressing mechanism can be provided on the machine nest.
  • the pressing mechanism is instructed to press the power-on button of the drone to start the drone.
  • the release instruction is used to instruct the nest to release the constraint on the UAV, so that the The drone takes off from the nest.
  • the UAV after the UAV is turned on, it can perform self-tests, such as checking whether the components are normal, whether the battery temperature is too high, whether the battery power is too low, and so on.
  • a self-inspection success message is sent to the management platform, or the machine nest sends a self-inspection success message of the drone to the management platform.
  • the management platform receives the successful self-inspection message of the UAV, it can determine that the UAV can perform the flight mission normally. Then, generate a release instruction, and send the release instruction to the nest, so that the nest releases the constraint on the drone (for example, open the cover of the nest), and the drone takes off from the nest.
  • the UAV can also be directly notified of the success of the self-test to the nest, and the nest releases the constraints on the UAV, allowing the UAV to take off.
  • the UAV will send a self-inspection failure message to the management platform. After receiving the message, the management platform will prompt the user that the UAV is abnormal and cannot complete the flight task, and the user is asked to select another UAV .
  • 103 Generate a flight control instruction in response to a second input operation by the user, where the flight control instruction is used to control a flight state of the drone, where the flight state includes a flight direction.
  • the user can input a second input operation through the management platform to control the flight state of the UAV, such as controlling the flight attitude and flight direction of the UAV.
  • the flight direction is, for example, ascending, descending, turning left, turning right, and the like.
  • the user can control the flying state of the drone through the keyboard (such as up, down, left, and right keys) of the management platform, and the second input operation is the operation of the user tapping the keyboard.
  • the drone touch button can also be displayed on the display screen coupled to the management platform, and the drone is controlled by the user using the mouse to click the touch button, then the second input operation is a single-click operation on the display.
  • the UAV can be placed in the machine nest, and the daily maintenance (such as charging, etc.) of the UAV is performed by the machine nest.
  • the daily maintenance such as charging, etc.
  • the UAV can be taken off by controlling the machine nest, and the flight of the UAV can be controlled through the management platform.
  • the control method is more convenient.
  • the daily maintenance of UAVs through the machine nest can reduce management and maintenance costs.
  • the UAV can perform intelligent return and find a suitable nest for landing.
  • the fourth input operation can be input by the user through the management platform, the management platform generates a landing instruction based on the fourth input operation, the management platform sends the landing instruction to the UAV, and the UAV automatically finds a suitable route, and descend to the machine nest.
  • the drone Normally, the drone needs to land to the original nest, that is, the nest corresponding to the drone. If the nest is common, it can also land to any free and open nest. After the drone lands in the nest, the nest will close the lid and start charging the drone.
  • the "one-key return" touch button is displayed on the display screen coupled to the management platform, and the return of the drone is triggered by touching the button.
  • the fourth input operation is the operation of the touch button, for example, clicking the touch button with a mouse or clicking the touch button with a finger (in this case, the display screen is a touch screen). It is also possible to set a physical button on the management platform, and trigger the return of the UAV by triggering the physical button.
  • the video screen of the UAV flight can be displayed on the display screen coupled to the management platform. Please refer to Figure 6.
  • the UAV flight screen is displayed on the right side of the screen. screen, you can understand the flight situation of the drone, so as to adjust the flight strategy.
  • the user when the user presses the "one-key return” button and the drone automatically returns, the user can watch the video to determine whether the drone can safely land on the nest. , you can manually control the input device of the management platform to control the UAV to return to the machine nest. If the landing to the machine nest cannot be completed manually, the UAV can also be landed on the open space near the machine nest.
  • the landing status of the UAV can also be monitored by the management platform, and when it is determined that the UAV cannot land safely, an alarm message is sent to prompt the user to manually control the UAV to land on the nest.
  • the drone when the drone cannot land safely, the drone sends a distress message to the management platform, and the management platform sends a warning message after receiving the distress message.
  • the management platform performs unified management of the drones, and the management platform can add more drones or reduce the number of drones according to actual needs.
  • security verification is required before the machine nest joins the management platform.
  • a machine nest when a machine nest requests to join the management platform, it needs to enter a verification password. Only by entering the correct verification password can the communication connection between the machine nest and the management platform be realized, and the machine nest can be displayed on the map of the management platform.
  • Fig. 7 shows a specific embodiment of the UAV flight control method.
  • the management platform generates a power-on instruction in response to the user's first input operation, such as the user clicking the "one-key take-off" touch button. After the management platform generates the power-on command, it sends the power-on command to the machine nest selected by the user, and the machine nest starts the drone located in the machine nest.
  • the UAV After the UAV is turned on, it will perform a self-inspection. If the self-inspection is successful, it will send a self-inspection success message to the management platform. After receiving the self-inspection success message, the management platform will send a release command to the nest, so that the nest will release the drone. If the self-inspection of the UAV fails, it will send a self-inspection failure message to the management platform. After receiving the self-inspection failure message, the management platform will send an alarm message to remind the user that the UAV selected by him is abnormal, and the user can re-select other UAVs. .
  • the user can generate a flight control instruction by inputting a second input operation to the input device of the management platform, and the management platform sends the flight control instruction to the UAV to instruct the UAV to fly.
  • the second input operation is, for example, the user taps the up, down, left, and right keys on the keyboard.
  • the UAV finds that it is abnormal or the environment is abnormal during the flight, it can return to the original nest or other idle and open nests.
  • the user can generate a landing instruction by inputting the fourth input operation to the management platform.
  • the fourth input operation such as clicking the "one-key landing" touch button.
  • the management platform sends the landing command to the UAV, and the UAV lands automatically. During the landing process, it is not controlled by the management platform, and the UAV lands by itself. However, when the drone cannot land on the nest, the user can manually control the drone to land on the nest through the management platform.
  • the embodiment of the present invention also provides a UAV forced landing control device, which can be applied to management.
  • the UAV forced landing control device 800 includes:
  • the start-up module 801 is configured to send a start-up instruction to the nest in response to a first input operation by the user, and the start-up instruction is used to instruct the nest to turn on the drone.
  • the release module 802 is configured to send a release instruction to the nest when the state of the drone in the nest is normal, the release instruction is used to instruct the nest to release the constraint on the drone, To make the drone take off from the nest.
  • the flight control module 803 is configured to generate a flight control instruction in response to a second input operation of the user, the flight control instruction is used to control the flight state of the drone, and the flight state includes a flight direction.
  • the UAV can be placed in the machine nest, and the daily maintenance (such as charging, etc.) of the UAV can be performed by the machine nest.
  • the daily maintenance such as charging, etc.
  • the UAV can be taken off by controlling the machine nest, and the flight of the UAV can be controlled through the management platform.
  • the control method is more convenient.
  • the device further includes a display module 804 configured to display a map and at least one machine nest located in the map on a display screen coupled to the management platform.
  • the display module 804 is further configured to display the state of the nest and the state of the drone in the nest on the display screen in response to a third input operation of the user.
  • the release module 802 is configured to receive the self-inspection success message of the drone sent by the drone or the nest, and generate the release instruction based on the self-inspection success message; The nest sends the release instruction.
  • the device further includes a landing module 805, configured to generate a landing instruction in response to the user's fourth input operation, and the landing instruction is used for the drone to automatically land to the Describe machine nest.
  • a landing module 805 configured to generate a landing instruction in response to the user's fourth input operation, and the landing instruction is used for the drone to automatically land to the Describe machine nest.
  • the device further includes an alarm module 806, configured to issue an alarm message when it is determined that the drone cannot normally land on the nest, and the alarm message is used to prompt The user manually controls the drone to land on the machine nest.
  • an alarm module 806 configured to issue an alarm message when it is determined that the drone cannot normally land on the nest, and the alarm message is used to prompt The user manually controls the drone to land on the machine nest.
  • the flight direction includes at least one of ascending, descending, turning left and turning right.
  • the above-mentioned device can execute the method provided by the embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method.
  • the above-mentioned device can execute the method provided by the embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method.
  • the methods provided in the embodiments of the present application refer to the methods provided in the embodiments of the present application.
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, such as a process in FIG. 2
  • the processor 22 may enable the above-mentioned one or more processors to execute the UAV flight control method in any of the above-mentioned method embodiments, for example, execute steps 301 to 303 of the method in FIG. 3 described above.
  • the embodiment of the present application also provides a computer program product, the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a machine During execution, the machine is made to execute the above-mentioned flight control method for the unmanned aerial vehicle. For example, the method steps 301 to 303 in FIG. 3 described above are executed.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each embodiment can be implemented by means of software plus a general hardware platform, and of course also by hardware.
  • all or part of the processes in the methods of the above embodiments can be completed by instructing related hardware through computer programs, and the programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

一种无人机（400）飞行控制方法、装置、管理平台（100）和存储介质。方法包括：响应于用户（200）的第一输入操作，向机巢（300）发送开机指令（301）；当机巢（300）中的无人机（400）状态正常时，向机巢（300）发送释放指令，以使无人机（400）从机巢（300）起飞（302）；响应于用户（200）的第二输入操作，生成飞行控制指令，飞行控制指令用于控制无人机（400）的飞行状态，飞行状态包括飞行方向（303）。无人机（400）可以放置于机巢（300）中，由机巢（300）进行无人机（400）的日常维护（例如充电等）。当用户（200）需利用无人机（400）执行跟踪、拍摄等不固定航线的任务时，可以通过控制机巢（300）使无人机（400）起飞，并通过管理平台（100）控制无人机（400）的飞行，控制方法较为便捷。

Description

一种无人机飞行控制方法、装置、管理平台和存储介质
本申请要求于2021年8月27日提交中国专利局、申请号为2021109950777、申请名称为“一种无人机飞行控制方法、装置、管理平台和存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及无人飞行器技术领域，特别涉及一种无人机飞行控制方法、装置、管理平台和存储介质。
背景技术
飞手在利用无人机执行跟踪、拍摄等不固定航线的任务时，通常需将无人机置于空旷平面，然后手动控制遥控器对无人机的飞行进行控制。此种无人机飞行控制方法，较为复杂，不够便捷。
发明内容
本申请实施例提供一种无人机飞行控制方法、装置、管理平台和存储介质，能较为便捷的控制无人机飞行。
第一方面，本申请实施例提供了一种无人机飞行控制方法，所述方法包括：
响应于用户的第一输入操作，向机巢发送开机指令，所述开机指令用于指示所述机巢开启所述无人机；
当所述机巢中的无人机状态正常时，向所述机巢发送释放指令，所述释放指令用于指示所述机巢释放对所述无人机的约束，以使所述无人机从所述机巢起飞；
响应于用户的第二输入操作，生成飞行控制指令，所述飞行控制指 令用于控制所述无人机的飞行状态，所述飞行状态包括飞行方向。
在一些实施例中，所述方法还包括：在所述管理平台耦合的显示屏上显示地图和位于所述地图中的至少一个机巢。
在一些实施例中，所述方法还包括：响应于用户的第三输入操作，在所述显示屏上显示所述机巢的状态和所述机巢中无人机的状态。
在一些实施例中，当所述机巢中的无人机状态正常时，向所述机巢发送释放指令，包括：
接收所述无人机或所述机巢发送的无人机的自检成功消息，基于所述自检成功消息，生成所述释放指令；
向所述机巢发送所述释放指令。
在一些实施例中，所述方法还包括：响应于用户的第四输入操作，生成降落指令，所述降落指令用于所述无人机自动降落至所述机巢。
在一些实施例中，所述方法还包括：当确定所述无人机不能正常降落至所述机巢时，发出告警信息，所述告警信息用于提示用户手动控制所述无人机降落至机巢。
在一些实施例中，所述飞行方向包括上升、下降、左转和右转中的至少一种。
第二方面，本申请实施例还提供了一种无人机飞行控制装置，包括:
开机模块，用于响应于用户的第一输入操作，向机巢发送开机指令，所述开机指令用于指示所述机巢开启所述无人机；
释放模块，用于当所述机巢中的无人机状态正常时，向所述机巢发送释放指令，所述释放指令用于指示所述机巢释放对所述无人机的约束，以使所述无人机从所述机巢起飞；
飞行控制模块，用于响应于用户的第二输入操作，生成飞行控制指令，所述飞行控制指令用于控制所述无人机的飞行状态，所述飞行状态包括飞行方向。
第三方面，本申请实施例还提供了一种管理平台，所述管理平台包括：
至少一个处理器，以及
存储器，所述存储器与所述至少一个处理器通信连接，所述存储器 存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行上述的无人机飞行控制方法。
第四方面，本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，当所述计算机可执行指令被机器执行时，使所述机器执行上述的无人机飞行控制方法。
本申请与现有技术相比，至少具有以下有益效果：本申请实施例的无人机飞行控制方法、装置、管理平台和存储介质，无人机可以放置于机巢中，由机巢进行无人机的日常维护(例如充电等)。当用户需利用无人机执行跟踪、拍摄等不固定航线的任务时，可以通过控制机巢使无人机起飞，并通过管理平台控制无人机的飞行，控制方法较为便捷。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请实施例无人机飞行控制方法的一个应用场景示意图；
图2是本申请实施例管理平台的硬件结构示意图；
图3是本申请实施例无人机飞行控制方法的流程示意图；
图4是本申请实施例无人机飞行控制方法中显示地图和机巢示意图；
图5是本申请实施例无人机飞行控制方法中显示机巢状态和无人机状态示意图；
图6是本申请实施例无人机飞行控制方法中显示无人机飞行视频画面示意图；
图7是本发明无人机飞行控制方法的一个实施例的流程示意图；
图8是本发明无人机迫降控制装置的一个实施例的结构框图示意图；
图9是本发明无人机迫降控制装置的另一个实施例的结构框图示意 图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本申请实施例提供的无人机飞行控制方法可以应用于如图1所示的应用场景，在图1所示的应用场景中，包括管理平台100、用户200、机巢300和无人机400。管理平台100用于控制机巢300和无人机400的飞行或运行。
管理平台100和无人机400之间，可以通过分别设置在各自内部的无线通信模块(例如信号接收器、信号发送器等)建立通信连接，上传或者下发数据/指令。管理平台100和机巢300之间，可以通过有线或无线通信方式连接。
无人机400可以为任何合适的无人飞行器，包括固定翼无人飞行器或旋转翼无人飞行器，例如直升机、四旋翼机和具有其它数量的旋翼和/或旋翼配置的飞行器。无人机400还可以是其他可移动物体，例如载人飞行器、航模、无人飞艇和无人热气球等。
无人机400通常包括机身、与所述机身相连的机臂、动力系统和控制系统等。动力系统用于提供无人机400飞行的动力，例如推力、升力等，可以包括电机、电调、桨叶或者电池等。
控制系统是无人机200的中枢神经，包括一个或多个控制器，以及多个传感器。多个传感器用于感测无人机的空间方位、速度、加速度、角加速度、姿态、位置等，包括GPS传感器、运动传感器、惯性传感器、近程传感器或者影像传感器等。
机巢300用于放置无人机400，其通常包括柜体和盖体，柜体和盖体形成一封闭空间，无人机400放置于其中时，可以免去日晒雨淋。机 巢300还可以包括充电模块，用于无人机放置于其中时，对无人机进行充电。
通常情况下，一个机巢对应一个无人机，机巢的体积与无人机的体积相适配，例如，旋翼无人机的机巢通常大于固定翼无人机的机巢。在其他实施例中，机巢和无人机也可以没有对应关系，各无人机的机巢可以通用。
机巢300还可以包括盖体控制机构，用于控制机盖开启或关闭。还可以包括按压机构，用于通过按压无人机的开/关机键，以控制无人机开机或者关机。其中，盖体控制机构可以由例如电机、连动机构、传动机构等现有结构构成，按压机构可以由包括按压本体和弹性件等的现有结构构成。
管理平台100为对机巢300和无人机400进行统一管理的平台，可以为任何合适的具有控制功能的电子设备，例如膝上计算机、台式计算机或服务器群。
管理平台100可以包括显示屏，或者通过连接其他显示设备进行显示，显示屏可以用于显示机巢和/或无人机的各种状态，例如机巢的盖体状态(开或关)、机巢主控板状态(正常或异常)、无人机充电状态(充电完成或充电中)和无人机状态(正常或异常)等。
管理平台100还可以包括输入装置，用于输入用户200的操控指令，例如无人机起飞/降落指令、无人机方向控制指令等。以实现用户200和管理平台100的人机交互，其中，输入装置例如触控屏、按键或者鼠标等。
图2示意性的示出了管理平台100的一种硬件结构，如图2所示，管理平台包括存储器21和处理器22。
其中，存储器21作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序指令。存储器21可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据终端的使用所创建的数据等。
此外，存储器21可以包括高速随机存取存储器，还可以包括非易失 性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器21可选包括相对于处理器22远程设置的存储器，这些远程存储器可以通过网络连接至管理平台。
上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
处理器22利用各种接口和线路连接整个管理平台100的各个部分，通过运行或执行存储在存储器21内的软件程序，以及调用存储在存储器21内的数据，执行管理平台100的各种功能和处理数据，例如实现本申请任一实施例所述的无人机飞行控制方法。
处理器22可以为一个或多个，图2中以一个处理器22为例。处理器22和存储器21可以通过总线或者其他方式连接，图2中以通过总线连接为例。
处理器22可包括中央处理单元(CPU)、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)设备等。处理器22还可以被实现为计算设备的组合，例如，DSP与微处理器的组合、多个微处理器、结合DSP核心的一个或多个微处理器、或者任何其它此类配置。
本领域技术人员可以理解的，以上仅是对管理平台100、机巢300和无人机400硬件结构的举例说明，在实际应用中，还可以根据实际功能需要，为管理平台100、机巢300和无人机400设置更多部件，当然，也可以根据功能需要，省略其中一个或者多个部件。
目前，飞手在利用无人机执行跟踪、拍摄等不固定航线的任务时，通常需将无人机置于空旷平面，然后手动控制遥控器对无人机的飞行进行控制。此种无人机飞行控制方法，较为复杂，不够便捷。
本申请实施例提供一种无人机飞行控制方法，可以利用管理平台对无人机进行控制，无人机可以放置于机巢中，由机巢进行无人机的日常维护(例如充电等)。当用户需利用无人机执行跟踪、拍摄等不固定航线的任务时，可以通过控制机巢使无人机起飞，并通过管理平台控制无人机的飞行，控制方法较为便捷。
图3示出了本申请实施例无人机飞行控制方法的一种流程图，该方 法可由上述管理平台100(例如管理平台100中的控制器)执行，如图3所示，所述方法包括：
101：响应于用户的第一输入操作，向机巢发送开机指令，所述开机指令用于指示所述机巢开启所述无人机。
在其中一些实施例中，管理平台耦合的显示屏可以显示某一区域的地图，并显示地图中分布的至少一个机巢，用户可以通过地图知悉机巢的位置。图4示例性的示出了管理平台和机巢在地图中的所在位置。
在一些实施例中，用户还可以通过显示屏查看机巢的状态和/或无人机的状态，例如，盖体状态(开或关)、机巢主控板状态(正常或异常)、无人机充电状态(充电完成或充电中)和无人机状态(正常或异常)等。
在实际使用中，可以通过用户输入第三输入操作(例如用户将鼠标悬停在机巢图标上，或通过鼠标单击地图中的机巢图标，或通过触控屏点击屏幕上的机巢图标)，来显示机巢状态和无人机状态。
在另一些实施例中，也可以是用户点击、单击或者悬停于机巢图标时，先显示机巢的状态，如果用户发现机巢状态正常，且机巢中具有空闲的无人机，再单击或点击机巢时，再显示无人机的状态。
在图5所示的实施例中，当用户点击机巢图标时，弹出一窗口，并在窗口上显示机巢状态和无人机状态。
用户可以根据自己将执行的飞行任务以及机巢的位置选择一或多个放置有空闲无人机的机巢。通过在显示屏显示地图及机巢位置，以及机巢状态和无人机状态，可以方便用户对无人机位置和飞行条件进行判断，从而选择出合适飞行任务的无人机。
当用户选定机巢和无人机后，可以通过管理平台的输入装置输入第一输入操作，向对应的机巢发送开机指令，以使机巢开启无人机。例如，可以通过鼠标单击显示屏上显示的“一键起飞”按钮，或者通过触控屏点击其上的“一键起飞”按钮，管理平台响应于该点击或者单击操作，生成开机指令，并将开机指令传送至机巢。
具体的，在一些实施例中，可以在机巢上设置按压机构，当机巢接收到开机指令时，指令按压机构对无人机的开机键进行按压操作，以使 无人机开机。
102：当所述机巢中的无人机状态正常时，向所述机巢发送释放指令，所述释放指令用于指示所述机巢释放对所述无人机的约束，以使所述无人机从所述机巢起飞。
在一些实施例中，无人机开机后可以进行自检测，例如检测各部件是否正常、电池温度是否过高、电池电量是否过低等。
自检成功后，向管理平台发送自检成功消息，或者，由机巢向管理平台发送无人机的自检成功消息。管理平台收到无人机的自检成功消息后，可以确定无人机能正常执行飞行任务。则，生成释放指令，并将释放指令发送给机巢，以使机巢释放对无人机的约束(例如打开机巢的盖体)，使无人机从机巢中起飞。
使无人机通过自检之后，再释放机巢对无人机的约束，使其起飞，可以降低无人机在飞行过程中因自身故障造成的飞行风险，且由管理平台对机巢进行自动控制，简单便捷。
在另一些实施例中，无人机自检成功后，也可以直接通知机巢无人机自检成功，机巢解除对无人机的约束，使无人机起飞。
若无人机自检失败，则无人机向管理平台发送自检失败消息，管理平台收到该消息后，提示用户该无人机异常，无法完成飞行任务，请用户重新选择其他无人机。
103：响应于用户的第二输入操作，生成飞行控制指令，所述飞行控制指令用于控制所述无人机的飞行状态，所述飞行状态包括飞行方向。
无人机起飞后，用户可以通过管理平台输入第二输入操作，对无人机的飞行状态进行控制，例如对无人机的飞行姿态、飞行方向等进行控制。其中，飞行方向例如上升、下降、左转和右转等。
其中，用户可以通过管理平台的键盘(例如上、下、左、右键)对无人机的飞行状态进行控制，则第二输入操作为用户敲击键盘的操作。在另一些实施例中，也可以在管理平台耦合的显示屏上显示无人机触控按键，通过用户利用鼠标对触控按键的单击操作来对无人机进行控制，则第二输入操作为对显示屏的单击操作。
本申请实施例的无人机飞行控制方法，无人机可以放置于机巢中， 由机巢进行无人机的日常维护(例如充电等)。当用户需利用无人机执行跟踪、拍摄等不固定航线的任务时，可以通过控制机巢使无人机起飞，并通过管理平台控制无人机的飞行，控制方法较为便捷。而且，通过机巢进行无人机日常维护，可以降低管理和维护成本。
在一些实施例中，如果无人机在飞行过程中发现电量不足或者出现其他故障，可以进行智能返航，寻找合适的机巢进行降落。
在另一些实施例中，可以由用户通过管理平台输入第四输入操作，管理平台基于第四输入操作生成降落指令，管理平台将降落指令发送至无人机，无人机自动寻找合适的航线，并降落至机巢。
通常情况下，无人机需降落至原机巢，即与该无人机对应的机巢，在机巢通用的场合，也可以降落至任一空闲且处于打开状态的机巢。无人机降落至机巢后，机巢会关闭盖体，并开始为无人机充电。
例如，在管理平台耦合的显示屏上显示“一键返航”触控按键，通过触控该按键触发无人机返航。则第四输入操作为触控按键的操作，例如，用鼠标单击触控按键或用手指点击触控按键(此时显示屏为触控屏)。也可以在管理平台上设置一物理按键，通过触发该物理按键触发无人机返航。
管理平台耦合的显示屏上可以显示无人机飞行的视频画面，请参见图6，在图6所示的实施例中，无人机飞行画面显示于屏幕右侧，用户通过观看无人机飞行画面，可以了解无人机的飞行情况，从而调整飞行策略。
在一些实施例中，在用户按下“一键返航”按键，无人机自动返航过程中，用户可以通过观看视频画面确定无人机是否能安全降落至机巢，如果无人机不能安全降落，则可以手动控制管理平台的输入装置，控制无人机返落至机巢，如果手动也无法完成降落至机巢的场合，也可以将无人机降落至机巢附近的空地上。
在另一些实施例中，也可以由管理平台对无人机的降落状态进行监控，当确定无人机不能安全降落时，发出告警信息，提示用户手动控制无人机降落机巢。
当然，也可以在无人机无法安全降落时，由无人机向管理平台发送 求救信息，管理平台收到求救信息后，发出告警信息。
本申请实施例，由管理平台对无人机进行统一管理，管理平台可以根据实际需要，加入更多的无人机，或者减少无人机。为保证管理平台的网络安全，在机巢加入管理平台前，需进行安全验证。
例如，机巢请求加入管理平台时，需输入验证密码，只有输入正确的验证密码，才能实现机巢和管理平台的通信连接，该机巢才能显示在该管理平台的地图中。
图7示出了无人机飞行控制方法的一具体实施例。在图7所示的实施例中，管理平台响应于用户的第一输入操作，生成开机指令，第一输入操作例如用户点击“一键起飞”触控按键。管理平台生成开机指令后，将开机指令发送给用户选择的机巢，该机巢使位于该机巢内的无人机开机。
无人机开机后自检，若自检成功，则向管理平台发送自检成功消息，管理平台接收到自检成功消息后，向机巢发送释放指令，以使机巢释放无人机。若无人机自检失败，则向管理平台发送自检失败消息，管理平台收到自检失败消息后，发出告警信息，提示用户其选择的无人机异常，用户可以重新选择其他无人机。
若无人机正常起飞，则用户可以通过向管理平台的输入装置输入第二输入操作，生成飞行控制指令，管理平台将飞行控制指令发送给无人机，指令无人机飞行。第二输入操作例如用户敲击键盘上的上、下、左、右键。
若无人机飞行过程中，发现自身异常或环境异常，可以返航进行迫降至原机巢内或者其他空闲且处于打开状态的机巢。
当无人机执行完任务后，用户可以通过向管理平台输入第四输入操作，生成降落指令。第四输入操作，例如点击“一键降落”触控按键。管理平台将降落指令发送至无人机，无人机自动降落，在降落过程中不受管理平台控制，由无人机自行降落。但是，当无人机无法降落至机巢时，用户可以通过管理平台手动控制无人机降落至机巢。
相应的，本发明实施例还提供了一种无人机迫降控制装置，可以应 用于管理，如图8所示，无人机迫降控制装置800包括：
开机模块801，用于响应于用户的第一输入操作，向机巢发送开机指令，所述开机指令用于指示所述机巢开启所述无人机。
释放模块802，用于当所述机巢中的无人机状态正常时，向所述机巢发送释放指令，所述释放指令用于指示所述机巢释放对所述无人机的约束，以使所述无人机从所述机巢起飞。
飞行控制模块803，用于响应于用户的第二输入操作，生成飞行控制指令，所述飞行控制指令用于控制所述无人机的飞行状态，所述飞行状态包括飞行方向。
本申请实施例的无人机机迫降控制装置，无人机可以放置于机巢中，由机巢进行无人机的日常维护(例如充电等)。当用户需利用无人机执行跟踪、拍摄等不固定航线的任务时，可以通过控制机巢使无人机起飞，并通过管理平台控制无人机的飞行，控制方法较为便捷。
在一些实施例中，请参照图9，所述装置还包括显示模块804，用于在所述管理平台耦合的显示屏上显示地图和位于所述地图中的至少一个机巢。
在一些实施例中，显示模块804还用于响应于用户的第三输入操作，在所述显示屏上显示所述机巢的状态和所述机巢中无人机的状态。
在其中一些实施例中，释放模块802用于接收所述无人机或所述机巢发送的无人机的自检成功消息，基于所述自检成功消息，生成所述释放指令；以及向所述机巢发送所述释放指令。
在一些实施例中，请参照图9，所述装置还包括降落模块805，用于响应于用户的第四输入操作，生成降落指令，所述降落指令用于所述无人机自动降落至所述机巢。
在一些实施例中，请参照图9，所述装置还包括告警模块806，用于当确定所述无人机不能正常降落至所述机巢时，发出告警信息，所述告警信息用于提示用户手动控制所述无人机降落至机巢。
其中，所述飞行方向包括上升、下降、左转和右转中的至少一种。
需要说明的是，上述装置可执行本申请实施例所提供的方法，具备 执行方法相应的功能模块和有益效果。未在装置实施例中详尽描述的技术细节，可参见本申请实施例所提供的方法。
本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如图2中的一个处理器22，可使得上述一个或多个处理器可执行上述任意方法实施例中的无人机飞行控制方法，例如，执行以上描述的图3中的方法步骤301至步骤303。
本申请实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被机器执行时，使所述机器执行上述的无人机飞行控制方法。例如，执行以上描述的图3中的方法步骤301至步骤303。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施例的描述，本领域普通技术人员可以清楚地了解到各实施例可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(RandomAccessMemory,RAM)等。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的 本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (10)

  1. 一种无人机飞行控制方法，其特征在于，所述方法用于管理平台，所述管理平台分别与机巢和无人机通信连接，所述方法包括：
    响应于用户的第一输入操作，向机巢发送开机指令，所述开机指令用于指示所述机巢开启所述无人机；
    当所述机巢中的无人机状态正常时，向所述机巢发送释放指令，所述释放指令用于指示所述机巢释放对所述无人机的约束，以使所述无人机从所述机巢起飞；
    响应于用户的第二输入操作，生成飞行控制指令，所述飞行控制指令用于控制所述无人机的飞行状态，所述飞行状态包括飞行方向。
  2. 根据权利要求1所述的无人机飞行控制方法，其特征在于，所述方法还包括：
    在所述管理平台耦合的显示屏上显示地图和位于所述地图中的至少一个机巢。
  3. 根据权利要求2所述的无人机飞行控制方法，其特征在于，所述方法还包括：
    响应于用户的第三输入操作，在所述显示屏上显示所述机巢的状态和所述机巢中无人机的状态。
  4. 根据权利要求1所述的无人机飞行控制方法，其特征在于，当所述机巢中的无人机状态正常时，向所述机巢发送释放指令，包括：
    接收所述无人机或所述机巢发送的无人机的自检成功消息，基于所述自检成功消息，生成所述释放指令；
    向所述机巢发送所述释放指令。
  5. 根据权利要求1-4任意一项所述的无人机飞行控制方法，其特 征在于，所述方法还包括：
    响应于用户的第四输入操作，生成降落指令，所述降落指令用于所述无人机自动降落至所述机巢。
  6. 根据权利要求5所述的无人机飞行控制方法，其特征在于，所述方法还包括：
    当确定所述无人机不能正常降落至所述机巢时，发出告警信息，所述告警信息用于提示用户手动控制所述无人机降落至所述机巢。
  7. 根据权利要求1所述的无人机飞行控制方法，其特征在于，所述飞行方向包括上升、下降、左转和右转中的至少一种。
  8. 一种无人机飞行控制装置，其特征在于，包括:
    开机模块，用于响应于用户的第一输入操作，向机巢发送开机指令，所述开机指令用于指示所述机巢开启所述无人机；
    释放模块，用于当所述机巢中的无人机状态正常时，向所述机巢发送释放指令，所述释放指令用于指示所述机巢释放对所述无人机的约束，以使所述无人机从所述机巢起飞；
    飞行控制模块，用于响应于用户的第二输入操作，生成飞行控制指令，所述飞行控制指令用于控制所述无人机的飞行状态，所述飞行状态包括飞行方向。
  9. 一种管理平台，其特征在于，所述管理平台包括：
    至少一个处理器，以及
    存储器，所述存储器与所述至少一个处理器通信连接，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-7任一项所述的方法。
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储 介质存储有计算机可执行指令，当所述计算机可执行指令被机器执行时，使所述机器执行如权利要求1-7任一项所述的方法。
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